Cable Crawler Structure Design And Analysis

The common method of cable testing is inefficient and expensive at present, with the development of modern technology, we need to create a functional power line inspection device which could replace the old inspection method of using telescope or helicopter, and at present the main factor which restrict the development of the wire rope spider is the mechanical structure, that is difficult to meet the requirements of across obstacles.In this paper, a new type of spider structure is proposed through researching and analyzing of foreign and domestic research literature, the major contributions of this works are as following:Firstly, the domestic and foreign line-robot technology's status was researched, and the use of bionics to mimic sloth crawling action based on the characteristics of the obstacles on the cable. The author puts forward three different rope spider structures, coming up with a relatively better structure through a comparative analysis of the advantages and disadvantages of three different structural schemes.Secondly, the use of three-dimensional modeling software Solidworks initially established a three-dimensional model of the structure, the calculation and analysis is applied to the key components of the mechanical agencies, referring to the national standard to choose the size of the corresponding parts. Using Simulation to simulate the module's stress after add its static stress to the module, and in order to improve the efficiency of the battery, optimization design is used for the key components.And thirdly, the dynamical status of slipway and telescopic board is simulated with the mechanical system dynamics simulation software which is called Adams. Under the condition of load and friction, the curve of displacement, velocity, acceleration, torque and other parts can be calculated what verified the reasonableness of the action plan and the motor selection.Finally, the PC control program were written with VB, using Keil software development singlechip control programs, and the use of Hot-51 development board for motor simulation, which verified the PC control programs can command each motor of the robot in real time.